Algorithms Research Of Integrated GPS,DR Land Vehicle Navigation System Based On Difference Of Carrier Phase

Global Positioning System(GPS)is a satellite navigation system designed to provide instantaneous three-dimensional position infbrmation almost anywhere on the globe at any time, and in any weather .It have greatly applied in many areas such as aeronautics, astronautics, marine and other civil fields. Using GPS combined with other navigation methods to form integrated navigation system, has been a stress and a challenging issue in China and other countries in the world. Integrated land vehicle navigation system is composed of many single navigation methods, if we use different methods to integrate, we will obtain different integrated land vehicle navigation methods. Using Real Time Kinematic technique to integrate with sample single frequency GPS receiver and Dead Reckoning technique, will form an integrated GPS, DR land vehicle navigation system based on RTK. For the aim of reducing the cost and improving the navigation precision of the system, the most important in designing the whole system is how to dispose of the Position information data obtained by position sensors in it. Corresponding with trait of the integrated navigation system, the disposing data algorithms suitable for obtained by every sub-systems in the system and data integrated algorithm for the whole system have been designed in this dissertation:(1) For dealing with the defections of spending long time on ambiguity resolution and requiring high quality to the data in the RTK, a new algorithm named as Ambiguity Function Method Search Strategy Based on Genetic Algorithm is proposed. The new algorithm can improve the speed of ambiguity resolution in RTK by partly resolving difficulties those cannot be resolved by many traditional ambiguity resolutions, it has been proved by many examples of using which to deal with RTK survey data and computer simulation results.(2) Surveying equation of DR sub-system is not linear. A new algorithm named as U-D Factorization Adaptive Extended Iterative serial Filter algorithm is proposed for filtering the data obtained by angular rate sensor and milemeter. The new algorithm can greatly improve the positioning precision of DR sub-system by resolving the affection caused by linearization of surveying equation and avoiding divergence of Kalman filter caused by instability of values, it has been proved by computer simulation results.(3) Using Adaptive Kalman filter to filter data obtained by GPS sub-system.(4) Look upon the navigation information of RTK sub-system as one part, and the navigation information of GPS, DR as another one, using the principle of the priority of precision and reliability to integrate the two part information. A united Kalman filter to integrate information of GPS and DR sub-system has been used in the process.